Devices and Methods for an Electromagnetic Coil

ABSTRACT

Example implementations herein relate to electromagnetic coils. One example device includes a plurality of coil windings. Each coil winding may extend around a shared core region inside the plurality of coil windings between a respective first end and a respective second end. The respective first end is electrically connected to a respective first-end electrical contact. The respective second end is electrically connected to a respective second-end electrical contact. The device also includes a plurality of mountable components. Each mountable component electrically couples a respective first coil winding to a respective second coil winding via the respective first-end electrical contact of the respective first coil winding and the respective second-end electrical contact of the second coil winding.

CROSS REFERENCE TO RELATED APPLICATION

The present patent application is a continuation of U.S. patentapplication Ser. No. 15/799,432, filed on Oct. 31, 2017, which is herebyincorporated by reference in its entirety.

BACKGROUND

Unless otherwise indicated herein, the materials described in thissection are not prior art to the claims in this application and are notadmitted to be prior art by inclusion in this section.

Electromagnetic coils can be employed in various devices, such asinductors, electromagnets, transforms, sensors, electric motors, or anyother device configured to operate based on interaction between anelectrical current and a magnetic field. In some arrangements, anelectromagnetic coil can be employed to generate a magnetic field byproviding an electrical current to the electromagnetic coil. In otherarrangements, an electromagnetic coil can be employed to detect amagnetic field by measuring an electrical current (e.g., induced by themagnetic field) flowing through the electromagnetic coil.

An electromagnetic coil may include one or more electrical conductors(e.g., wires, coil windings, etc.) in a coil, spiral, or helixarrangement, among other possibilities. In some examples, theelectromagnetic coil may include multiple coil windings (e.g.,coil-shaped wires, etc.) that extend around a core area (e.g., “magneticaxis”) at the center of the coil. Further, in some applications, thecoil windings can be densely arranged adjacent and/or overlapping oneanother. To facilitate flow of an electrical current along the length ofa particular coil winding before passing into another coil winding, therespective coil windings may be electrically insulated from one anotheralong their respective lengths. For example, a coil winding may have acoating of a nonconductive insulation material, such as plastic orenamel for instance, that extends between the (exposed) terminals orends of the coil winding.

SUMMARY

In one example, a device includes a plurality of coil windingsassociated with a shared core region inside the plurality of coilwindings. Each coil winding extends around the shared core regionbetween a respective first end and a respective second end. Therespective first end is electrically connected to a respective first-endelectrical contact. The respective second end is electrically connectedto a respective second-end electrical contact. The device also includesa plurality of mountable components. Each mountable componentelectrically couples a respective first coil winding to a respectivesecond coil winding via the respective first-end electrical contact ofthe respective first coil winding and the respective second-endelectrical contact of the respective second coil winding.

In another example, a method involves obtaining electrical measurementsof a plurality of coil windings associated with a shared core regioninside the plurality of coil windings. The method also involvesdetermining electrical characteristics of the plurality of coil windingsbased on the electrical measurements. The method also involves mountinga plurality of mountable components. Each mountable componentelectrically couples a respective first coil winding to a respectivesecond coil winding via a respective first-end electrical contact of therespective first coil winding and a respective second-end electricalcontact of the respective second coil winding.

In yet another example, a device includes a plurality of toroidal coilwindings associated with a shared core region inside the plurality oftoroidal coil windings. Each toroidal coil winding extends around theshared core region between a respective first end and a respectivesecond end. The respective first end is electrically connected to arespective first-end electrical contact. The respective second end iselectrically connected to a respective second-end electrical contact.The device also includes a plurality of mountable components. Eachmountable component electrically couples a respective first toroidalcoil winding to a respective second toroidal coil winding via therespective first-end electrical contact of the respective first toroidalcoil winding and the respective second-end electrical contact of therespective second toroidal coil winding.

In still another example, a system comprises means for obtainingelectrical measurements of a plurality of coil windings associated witha shared core region inside the plurality of coil windings. The systemalso comprises means for determining electrical characteristics of theplurality of coil windings based on the electrical measurements. Thesystem also comprised means for mounting a plurality of mountablecomponents. Each mountable component electrically couples a respectivefirst coil winding to a respective second coil winding via a respectivefirst-end electrical contact of the respective first coil winding and arespective second-end electrical contact of the respective second coilwinding.

These as well as other aspects, advantages, and alternatives, willbecome apparent to those of ordinary skill in the art by reading thefollowing detailed description, with reference where appropriate to theaccompanying figures.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a simplified block diagram of a device that includes anelectromagnetic coil, according to an example embodiment.

FIG. 2 is a simplified block diagram of a device that includes a rotaryjoint, according to an example embodiment.

FIG. 3A illustrates a side view of a device that includes a rotaryjoint, according to an example embodiment.

FIG. 3B illustrates a cross-section view of the device in FIG. 3A.

FIG. 3C illustrates another cross-section view of the device in FIG. 3A.

FIG. 3D illustrates yet another cross-section view of the device in FIG.3A.

FIG. 4 is a simplified circuit diagram of a device that includes anelectromagnetic coil, according to an example embodiment.

FIG. 5 is a flowchart of a method, according to an example embodiment.

FIG. 6 is a flowchart of another method, according to an exampleembodiment.

DETAILED DESCRIPTION

The following detailed description describes various features andfunctions of the disclosed implementations with reference to theaccompanying figures. In the figures, similar symbols identify similarcomponents, unless context dictates otherwise. The illustrativeimplementations described herein are not meant to be limiting. It may bereadily understood by those skilled in the art that certain aspects ofthe disclosed implementations can be arranged and combined in a widevariety of different configurations.

I. Overview

In some implementations, an electromagnetic coil may include multiplecoil windings in a coaxial relative arrangement about a shared coreregion. For example, the respective turns of the coil windings may beinterleaved or otherwise adjacent to one another to form a dense ring ofcoil windings that define one or more electrically conductive pathsaround the shared core region. However, in some scenarios, adjacent coilwindings may be unintentionally (e.g., due to a defect or amanufacturing error, etc.) electrically coupled (e.g., shorted) atlocations other than the terminals (e.g., ends) of the respective coilwindings. In these scenarios, the resulting magnetic field generated (ordetected) by the coil may differ from an expected magnetic field thatwould be generated (or detected) without the defect.

To detect such defects, the electrical characteristics of the coilwindings can be measured (e.g., flying probe test, etc.) during or afterassembly of a coil. For example, a measured resistance of a coil windingcan be compared to a predefined value or a range of values expected whenthe coil winding is properly insulated from adjacent coil windings.However, in some scenarios, testing each coil winding separately may betechnically challenging. For example, after assembly of theelectromagnetic coil, the terminals or ends of the individual coilwindings may be connected to one another in series or parallel to formthe electromagnetic coil.

Accordingly, one example device includes a plurality of coil windingsassociated with a shared core region inside the plurality of coilwindings.

In one implementation, the coil windings may comprise a plurality ofcoil-shaped wires that are wound around the shared core region. In someinstances, two or more of the coil-shaped wires may be connected inseries to form an electrically conductive path that extends along alength of the core region two or more times. In other instances, two ormore of the coil-shaped wires may be connected in parallel to form twoseparate electrically conductive paths that each extend along a lengthof the core region.

In another implementation, the coil windings can be formed in amulti-layer circuit board (e.g., printed circuit board (PCB)). Forexample, the coil windings may comprise a first plurality of conductivestructures (e.g., copper traces, etc.) in a first layer of the PCB, anda second plurality of conductive structures in a second layer of thePCB. In one embodiment, the conductive structures in both layers may becircularly arranged around a common axis (e.g., to at least partiallyoverlap one another). Further, a plurality of interconnects (e.g., vias)in the PCB can be arranged to connect the conductive structures in thetwo layers to form one or more coil-shaped electrically conductive pathsaround the common axis. With this arrangement for instance, theconductive structures and the interconnects may together define aplurality of toroidal coil windings that are interleaved with oneanother about a shared core region (e.g., insulation material betweenthe two PCB layers).

The example device may also include a plurality of electrical contactsconnected to respective ends of the plurality of coil windings. Forexample, each coil winding may define a coil-shaped electricallyconductive path that extends around the shared core region between tworespective electrical contacts. In one embodiment, the electricalcontacts (e.g., exposed copper traces) can be disposed along a mountingsurface (e.g., top or bottom layer) of a circuit board.

The example device may also include a plurality of mountable components,such as resistors, wires, removable connectors, etc. A given mountablecomponent, when mounted, may electrically couple a first electricalcontact of a first coil winding to a second electrical contact of asecond coil winding. In one example, the given mountable component maybe configured to connect two coil windings in a series circuitconfiguration. Thus, in this example, two coil-shaped electricallyconductive paths (e.g., the two coil windings) can be connected to oneanother to form a single electrically conductive path that extends alonga length of the shared core region twice. In another example, the givenmountable component may be configured to connect two coil windings in aparallel circuit configuration. Thus, in this example, two coil-shapedelectrically conductive paths (e.g., the two coil windings) connected inparallel can support two electrical currents (e.g., phase-shifted ACsignals, etc.) in parallel.

With this arrangement for instance, each coil winding can beindividually tested prior to mounting the mountable components thatconnect the coil windings to one another. For instance, the resistanceand/or inductance of a particular coil winding can be measured or probedat the electrical contacts (i.e., terminals) of the particular coilwinding prior to connecting the particular coil winding (in series orparallel) with another coil winding. The measured resistance and/orinductance can then be compared with a predetermined value or range ofvalues to determine whether the particular coil winding has a defect.

By way of example, the measured resistance and/or inductance may beoutside the predetermined range of values if a loop (e.g., turn) of theparticular coil winding is unintentionally connected (e.g., “shortcircuit”) to a loop of another coil winding, or if the particular coilwinding does not define an electrically conductive path between the twoassociated electrical contacts (e.g., “open circuit” between two loopsof the particular coil winding), among other possibilities.

In some implementations, after testing the coil windings individually,the plurality of mountable components can then be mounted to the exampledevice to connect the coil windings and form an electromagnetic coilhaving the shared core region.

II. Example Systems and Devices

Systems and devices in which example embodiments may be implemented willnow be described in greater detail. In general, one or more embodimentsdisclosed herein can be used with any system that includes anelectromagnetic coil. A non-exhaustive list of example systems includeselectric motors, sensor coils, inductors, transformers, electromagnets,transducers, speakers, rotary joints, or any other system that includesan electromagnetic coil.

FIG. 1 is a simplified block diagram of a device 100 that includes anelectromagnetic coil, according to an example embodiment. As shown,device 100 includes an electromagnetic coil 140 and circuitry 150.

Coil 140 may comprise one or more loops of electrically conductivematerials (e.g., copper, gold, other metal, etc.) that define one ormore electrically conductive paths around a shared core region insidecoil 140. In a first example, coil 140 may include an electricalconductor, such as a wire for instance, in the shape of a coil, spiral,or helix extending around a core region inside coil 140. In a secondexample, coil 140 may include multiple electrical conductors (e.g.,wires), each having the shape of a coil, spiral, helix, etc., that arewounded around a shared core region. In this example, each electricalconductor may correspond to a coil winding of coil 140. In a thirdexample, coil 140 may include one or more arrangements of coplanarconductive structures that are connected to one another to form one ormore coil windings (i.e., electrically conductive paths, etc.) aroundthe core region of coil 140. Other examples are possible.

In the example shown, coil 140 includes a plurality of coil windings110, a plurality of electrical contacts 120, and a plurality ofmountable components 130.

Coil windings 110 can be implemented in various ways. In some examples,a coil winding can be formed from a wire or other electrical conductorthat is wound around a core region to define a magnetic axis of coil140. In other examples, a coil winding can be formed from multipleconductive structures that are connected to one another to form anelectrically conductive path in the shape of a coil, helix, spiral, etc.To that end, the core region of coil 140 can have various shapes such asa cylindrical shape or a toroidal shape, among others.

As shown, coil windings 110 may include a plurality of conductivestructures 112 and a plurality of interconnects 114.

Conductive structures 112 may comprise portions of electricallyconductive material (e.g., copper, other metal, etc.) that areelectrically coupled together to define at least one (e.g., coil-shaped)electrically conductive path around the core region or magnetic axis ofcoil 140. To that end, interconnects 114 may comprise an arrangement ofelectrical connections between particular conductive structures todefine the electrically conductive paths of coil windings 110.

In one embodiment, conductive structures 112 may include a firstplurality of conductive structures in a first coplanar and circulararrangement. In this embodiment, conductive structures 112 may alsoinclude a second plurality of conductive structures in a second coplanararrangement and circular arrangement that overlaps (e.g., parallel to)the first plurality of conductive structures. For instance, in a circuitboard implementation, the first plurality of conductive structures canbe disposed or patterned along a first layer of the circuit board, andthe second plurality of conductive structures can be disposed orpatterned along a second layer of the circuit board.

In this embodiment, interconnects 114 may comprise conductive materialthat extends through a drilled hole between two layers of a circuitboard (e.g., vias). With this arrangement, coil windings 110 can beformed about a toroidal core region having an axis of symmetry thatextends through a center of the circular arrangements of conductivestructures 112. Thus, in this embodiment, interconnects 114 may couplethe first plurality of conductive structures (in the first layer of thecircuit board) to the second plurality of conductive structures (in thesecond layer of the circuit board) to define a plurality of toroidalcoil windings (i.e., windings 110) extending around the toroidal axis ofsymmetry.

Other embodiments are possible as well, such as embodiments where coilwindings 110 are associated with a core region having a different shape(e.g., cylindrical, etc.).

Electrical contacts 120 may comprise conductive materials (e.g., copper,etc.) that are connected to terminals or ends of respective coilwindings of coil windings 110. By way of example, where a particularcoil winding includes a set of conductive structures that are connectedto one another via interconnects 114, electrical contacts 120 maycomprise two particular electrical contacts connected to a first andlast conductive structure of the particular coil winding. Thus, in thisexample, an electrical current flowing through the particular coilwinding can be measured and/or provided at the terminals of theparticular coil winding defined by the two particular electricalcontacts. In one embodiment, the two particular electrical contacts canbe disposed on a mounting surface (e.g., top layer or bottom layer) of acircuit board that includes conductive structures 112.

Mountable components 130 may include resistors, wires, plugs, switches,or any other removably mountable electronic component configured to,when mounted to device 100, electrically connect a first electricalcontact of a first coil winding to a second electrical contact of asecond coil winding. In one example, two of coil windings 110 can beconnected in series with one another via a given mountable connector todefine an electrically conductive path that extends two times along alength of the core region of coil 140. In another example, two of coilwindings 110 can be connected in parallel to one another to define twoparallel electrically conductive paths that can support two separateelectrical currents along a length of the core region of coil 140. Inone embodiment, mountable components 130 may include a low-resistanceresistor (e.g., 0.002 ohms, etc.) that is mounted onto a mountingsurface of a circuit board to overlap two particular electrical contactsof two coil windings.

Circuitry 150 may include analog or digital components configured toprovide and/or detect electrical currents flowing through coil windings110 of coil 140. To that end, circuitry 150 may include any combinationof power sources, controllers, filters, capacitors, transistors,sensors, or any other electronic component.

In one example, circuitry 150 may include sensing elements that measureelectrical current(s) induced in coil 140 due to a magnetic field thatintersects the core region of coil 140. In this example, circuitry 150may also include a controller or computer system that determines themagnetic field based on the measured electrical current(s).

In another example, circuitry 150 may include a controller thatmodulates electrical current(s) flowing through coil 140 to cause coil140 to generate a magnetic field. In one embodiment, circuitry 150 mayprovide a 3-phase AC signal through coil 140 to generate a rotatingmagnetic field using coil 140. Other examples are possible. Further, insome instances, circuitry 150 can modulate the generated magnetic fieldby adjusting the electrical current(s) flowing through coil windings110. Accordingly, circuitry 150 may include any combination of wiring,conductive material, capacitors, resistors, amplifiers, filters,comparators, voltage regulators, controllers, and/or any other circuitryarranged to provide and modulate electrical current(s) flowing throughcoil 140.

As noted above, one or more embodiments disclosed herein can be usedwith any device that includes an electromagnetic coil. By way ofexample, a rotary joint device may include a first structure (e.g.,rotor) configured to rotate relative to a second structure (e.g.,stator). Example systems that employ rotary joint devices include sensorsystems (e.g., RADARs, LIDARs, etc.) and robotic systems (e.g., fordirecting microphones, speakers, robotic components, etc.), amongothers. To that end, illustrative embodiments described herein include arotary joint device that includes an electromagnetic coil similarly todevice 100.

FIG. 2 is a simplified block diagram of a device 200 that includes arotary joint, according to an example embodiment. As shown, device 200includes a first platform 210 and a second platform 230.

First platform 210 may comprise or may be coupled to a rotor or othermoveable component. For example, platform 210 can be configured torotate relative to platform 230 and about an axis of rotation ofplatform 210 (e.g., rotor axis). Thus, platform 210 can be configured asa rotating platform in a rotary joint configuration. As shown, platform210 includes a sensor 212, a controller 214, a communication interface216, a power interface 218, and one or more magnets 220.

In some examples, platform 210 may comprise any solid material suitablefor supporting and/or mounting the various components of platform 210.For instance, platform 210 may include a printed circuit board (PCB)that mounts communication interface 216 and/or other components ofplatform 210. The PCB in this instance can also include circuitry (notshown) to electrically couple one or more of the components of platform210 (e.g., sensor 212, controller 214, communication interface 216,power interface 218, etc.) to one another. The PCB in this instance canbe positioned such that the mounted components are along a side ofplatform 210 facing or opposite to a corresponding side of platform 230.With this arrangement, for instance, platforms 210 and 230 may remainwithin a given distance to one another in response to a rotation ofplatform 210 relative to platform 230.

Sensor 212 may include any combination of sensors mounted to platform210. A non-exhaustive list of example sensors may include directionsensors (e.g., gyroscopes, accelerometers, etc.), remote sensing devices(e.g., RADARs, LIDARs, etc.), sound sensors (e.g., microphones), amongother examples.

Controller 214 may be configured to operate one or more of thecomponents of first platform 210. To that end, controller 214 mayinclude any combination of general-purpose processors,special-purpose-processors, data storage, logic circuitry, and/or anyother circuitry configured to operate one or more components of device200. In one implementation, controller 214 includes one or moreprocessors that execute instructions stored in data storage to operatesensor 212, interface 216, etc. In another implementation, controller214 alternatively or additionally includes circuitry wired to performone or more of the functions and processes described herein foroperating one or more components of device 200. In one example,controller 214 can be configured to receive sensor data collected bysensor 212, and to provide a modulated electrical signal indicative ofthe sensor data to communication interface 216. For instance, the sensordata may indicate a measured orientation, a scan of a surroundingenvironment, detected sounds, and/or any other sensor output of sensor212.

Communication interface 216 may include any combination of wireless orwired communication components (e.g., transmitters, receivers, antennas,light sources, light detectors, etc.) configured to transmit and/orreceive data and/or instructions between platforms 210 and 230. In oneexample, where communication interface 216 is an optical communicationinterface, interface 216 may include one or more light sources arrangedto emit modulated light signal 202 for receipt by a light detectorincluded in platform 230. For instance, signal 202 may indicate sensordata collected by sensor 212. Further, in this example, interface 216may include a light detector for receiving modulated light signal 204emitted from platform 230. For instance, signal 204 may indicateinstructions for operating sensor 212 and/or any other component coupledto platform 210. In this instance, controller 214 can operate sensor 212based on the received instructions detected via interface 216.

Power interface 218 may include one or more components configured forwireless (or wired) transmission of power between platforms 210 and 230.By way of example, interface 218 may include transformer coil(s) (notshown) arranged to receive a magnetic flux extending through thetransformer coils to induce an electrical current for powering one ormore components (e.g., sensor 212, controller 214, communicationinterface 216, etc.) of platform 210. For instance, the transformercoils can be arranged around a center region of platform 210 opposite tocorresponding transformer coils included in platform 230. Further, forinstance, device 200 may also include a magnetic core (not shown)extending through the transformer coils in interface 218 (and/ortransformer coils included in platform 230) to guide the magnetic fluxthrough the respective transformer coils thereby improving efficiency ofpower transmission between the two platforms. Other configurations arepossible as well.

Magnet(s) 220 may can be formed from a ferromagnetic material such asiron, ferromagnetic compounds, ferrites, etc., and/or any other materialthat is magnetized to generate a first-platform magnetic field ofplatform 210.

In one implementation, magnets 220 can be implemented as a plurality ofmagnets in a substantially circular arrangement around an axis ofrotation of platform 210. For example, magnets 220 can be arranged alonga circle that is concentric to the axis of rotation to generate acombined magnetic field extending toward and/or through platform 230.Further, for instance, adjacent magnets of magnets 220 can be magnetizedin alternating directions such that a magnetic pole of a given magnetalong a surface of the given magnet that is facing platform 230 isopposite to a magnetic pole of an adjacent magnet along a similarsurface. With this arrangement for instance, a magnetic field may extendfrom the surface of the given magnet toward platform 230 and then towardthe surface of the adjacent magnet. Further, another magnetic field mayextend from a surface of the given magnet toward platform 230 and thentoward another adjacent magnet.

In another implementation, magnet 220 can be implemented as a singlering magnet that is concentric to the axis of rotation of the firstplatform. In this implementation, the ring magnet can be magnetized tohave a magnetization pattern similar to that of the plurality of magnetsdescribed above. For example, the ring magnet can be implemented as aprinted magnet having a plurality of ring sectors (e.g., regions of thering magnet between respective radial axes thereof). In this example,adjacent ring sectors of the ring magnet can be magnetized inalternating directions to define a plurality of alternating magneticpoles facing platform 230.

As shown, magnet(s) 220 can optionally include an index magnet 222.Index magnet 222 may include a magnet (e.g., ferromagnetic material,etc.) that is configured to have a characteristic that differs from thatof the other magnets in magnets 220.

Second platform 230 can be configured as a stator platform in a rotaryjoint configuration. For instance, the axis of rotation of platform 210can extend through platform 230 such that platform 210 rotates relativeto platform 230 while remaining within a given distance to platform 230.As shown, platform 230 includes a controller 234, a communicationinterface 236, a power interface 238, an electromagnetic coil 240,circuitry 250, and a magnetic field sensor 290. To that end, platform230 can be formed from any combination of solid materials suitable forsupporting the various components mounted or otherwise coupled toplatform 230. In some examples, platform 230 may comprise a circuitboard that mounts one or more components (e.g., interfaces 236, 238,sensor 290, etc.) of device 200.

Controller 234 can have various physical implementations (e.g.,processors, logic circuitry, analog circuitry, data storage, etc.)similarly to controller 214, for example. Further, controller 234 canoperate communication interface 236 to transmit signal 204 indicating atransmission of data or instructions similarly to, respectively,controller 214, communication interface 216, and signal 202, forexample. For instance, controller 234 can operate interface 236 (e.g.,transceiver, antenna, light sources, etc.) to provide a modulatedwireless signal indicating instructions for operating sensor 212 and/orany other component of platform 210. Further, for instance, controller290 can receive a modulated electrical signal from interface 236indicating modulated signal 202 transmitted from platform 210.

Communication interface 236 can be implemented similarly to interface216 to facilitate communication between platforms 210 and 230 viasignals 202 and 204.

Power interface 238 can be configured similarly to power interface 218,and may thus be operated in conjunction with power interface 218 tofacilitate transmission of power between platforms 210 and 230. By wayof example, interface 238 may comprise a transformer coil (not shown),and controller 234 can be configured to cause an electrical current toflow through the transformer coil. The electrical current may thengenerate a magnetic flux that extends through a correspondingtransformer coil (not shown) of power interface 218 to induce anelectrical current through the corresponding transformer coil. Theinduced electrical current could thus provide power for one or morecomponents of platform 210.

Electromagnetic coil 240 and circuitry 250 may be similar, respectively,to electromagnetic coil 140 and circuitry 150, for example.

In one implementation, circuitry 250 (and/or controller 234) can causeone or more electrical currents to flow through coil 240 to generate asecond-platform magnetic field inside coil 240. Thus, the first-platformmagnetic field of platform 210 may interact with the second-platformmagnetic field of platform 230 to provide a force or torque on platform210. The induced force may then cause platform 210 to rotate about theaxis of rotation thereof. Further, in some instances, circuitry 250(and/or controller 234) can modulate the second-platform magnetic fieldby adjusting the electrical current(s) flowing through coil 240. Bydoing so, for instance, device 200 can control a direction or rate ofrotation of platform 210.

Magnetic field sensor 290 may be configured to measure one or morecharacteristics (e.g., direction, angle, magnitude, flux density, etc.)of the first-platform magnetic field associated with magnet(s) 220. Forexample, sensor 290 may include one or more magnetometers arranged tooverlap magnet(s) 220 and/or the first-platform magnetic field. Anon-exhaustive list of example sensors includes proton magnetometers,Overhauser effect sensors, cesium vapor sensors, potassium vaporsensors, rotating coil sensors, Hall effect sensors, magneto-resistivedevice sensors, fluxgate magnetometers, superconducting quantuminterference device (SQUID) sensors, micro-electro-mechanical-system(MEMS) sensors, and spin-exchange relaxation-free (SERF) atomic sensors,among other examples. In one implementation, sensor 290 may comprise athree-dimensional (3D) Hall effect sensor that outputs an indication ofan angle (and/or magnitude) of the first-platform magnetic field at aposition of sensor 290 according to an orthogonal coordinate systemrepresentation (e.g., x-y-z axis components) or other vector fieldrepresentation.

Thus, device 200 could use output(s) from sensor 290 as a basis fordetermining an orientation or position of platform 210 about the axis ofrotation. By way of example, sensor 290 can be positioned to overlap aportion of the first-platform magnetic field extending between twoadjacent magnets of magnet(s) 220. As first platform 210 rotates, theangle of the portion may change at the position of sensor 290 and thuscircuitry 250 (and/or controller 234) can sample outputs from sensor 290to deduce the position of sensor 290 relative to the two adjacentmagnets.

Thus, with this arrangement, device 200 could use magnet(s) 220 ascomponent(s) for both actuating platform 210 and measuring theorientation of platform 210 (e.g., magnetic encoder). This arrangementcan provide an actuator and a magnetic encoder with reduced costs andwith a more compact design.

In implementations where magnet(s) 220 include index magnet 222, aparticular portion of the first-platform magnetic field extendingbetween index magnet 222 and one or more magnets adjacent to indexmagnet 222 may have one or more differentiating characteristics relativeto other portions of the first-platform magnetic field. By of example,if index magnet 222 is positioned at a different distance to the axis ofrotation of platform 210 than a substantially uniform distance betweenthe axis of rotation and other magnets of magnet(s) 220, then adirection of the particular portion of the first-platform magnetic fieldmay differ from respective directions of the other portions.Accordingly, in some examples, circuitry 250 (and/or controller 234) canassociate detection of this difference with an orientation of platform210 where sensor 290 overlaps index magnet 222 or a region between indexmagnet 222 and an adjacent magnet. Through this process, for instance,device 200 can map outputs of sensor 290 to a range of orientations ofplatform 210 relative to a position of index magnet 222.

In some implementations, device 200 may include fewer or more componentsthan those shown. In one example, device 200 can be implemented withoutindex magnet 222, sensor 290, and/or any other component shown. Inanother example, platforms 210 and/or 230 may include additional oralternative sensors (e.g., microphone, etc.), computing subsystems,and/or any other component. Additionally, it is noted that the variousfunctional blocks shown can be arranged or combined in differentarrangements than those shown. For example, some of the componentsincluded in platform 210 can be alternatively included in platform 230or implemented as separate components of device 200.

FIG. 3A illustrates a side view of a device 300 that includes a rotaryjoint, according to an example embodiment. As shown, device 300 includesa rotor platform 310 and a stator platform 330 that may be similar,respectively, to platforms 210 and 230. In the example shown, a side 310a of platform 310 is positioned at a given distance 308 to a side 330 aof platform 330. Platform 310 can be configured as a rotor platform thatrotates about axis of rotation 306. Further, platform 330 can beconfigured as a stator platform that remains within distance 308 toplatform 310 in response to rotation of platform 310 about axis 306. Insome examples, side 310 a may correspond to a planar mounting surface ofplatform 310 (e.g., an outer layer of a circuit board). Similarly, forexample, side 330 a may correspond to a planar mounting surface ofplatform 330.

FIG. 3B illustrates a cross-section view of device 300. In FIG. 3B, axis306 extends through the page. As shown in FIG. 3B, device 300 alsoincludes a mount 328 and a plurality of magnets, exemplified by magnets320, 322, 324, 326.

Magnets 320, 322, 324, 426, can be similar to magnet(s) 320. Forexample, as shown, magnets 320, 322, 324, 326, are mounted in asubstantially circular arrangement around axis of rotation 306. In someexamples, adjacent magnets of device 300 can be magnetized inalternating directions. For example, as shown, magnet 320 is magnetizedin a direction pointing into the page (e.g., South Pole indicated byletter “S” pointing out of the page), magnet 322 is magnetized in adirection pointing out of the page (e.g., North Pole indicated by letter“N” pointing out of the page), magnet 324 is magnetized in the samedirection as magnet 320, and so on. Thus, in some examples, therespective magnetization directions of the plurality of magnets (e.g.,320, 322, 324, 326, etc.) could be substantially parallel to axis 306,as shown.

Mount 328 may include any structure configured to support the pluralityof magnets of platform 310 in a circular arrangement around axis 306. Tothat end, mount 328 may include any solid structure (e.g., plastic,aluminum, other metal, etc.) suitable for supporting the plurality ofmagnets in the circular arrangement. For example, as shown, mount 328can have a ring shape extending between (circular) edges 328 a and 328b. Further, as shown, mount 328 may include indentations thataccommodate the plurality of magnets in the circular arrangement. Forinstance, as shown, mount 328 includes an indentation (between walls 328c and 328 d) shaped to accommodate magnet 326. Thus, during assembly forinstance, the plurality of magnets could be fitted into respectiveindentations of mount 328 to facilitate placing the plurality of magnetsin the circular arrangement. Further, as shown, ring-shaped mount 328could be concentrically arranged relative to axis 306 (e.g., axis 306aligned with a center axis of ring-shaped mount 328). Thus, forinstance, circular edges 328 a, 328 b, and magnets 320, 322, 324, 326,etc., could remain within respective given distances to axis 306 inresponse to rotation of platform 310 about axis 306.

In some examples, similarly to index magnet 222, at least one magnet indevice 300 can be configured as an index magnet having one or morecharacteristics that differ from a common characteristic of othermagnets. As shown, for example, magnet 322 is mounted at a differentdistance to axis 306 than a distance between other magnets (e.g., 320,324, 326, etc.) and axis 306. To facilitate this, as shown, anindentation (e.g., defined by wall 328 e) that accommodates index magnet322 could have a smaller length than respective indentationsaccommodating magnets 320, 324, 326, etc. As a result, index magnet 322,when mounted, may be closer to edge 328 a (and axis 306) than magnets320, 324, 326, etc.

As shown in FIG. 3B, platform 310 may include a center gap defined byedge 310 b. In this example, platform 310 may include a transformer coil(not shown) arranged around edge 310 b. Further, in this example, device300 may include a magnetic core (not shown) extending through the centergap to guide a magnetic flux generated by a similar transformer coil(not shown) of platform 330. Thus, for instance, power can betransmitted between platforms 310 and 330, in line with the discussionabove for power interfaces 218 and 238.

It is noted that platform 310 may include additional or fewer componentsthan shown. In one example, mount 328 can be arranged along a peripheryof a printed circuit board (PCB) or other circuit board. In anotherexample, mount 328 can be disposed along a surface or layer of thecircuit board.

FIGS. 3C and 3D illustrate other cross-section views of device 300. Inthe cross section view of FIG. 3C, side 330 a of platform 330 is alongthe surface of the page. The cross section view of FIG. 3D maycorrespond to a view of a layer of platform 330 that is substantiallyparallel to side 330 a. For example, the layer shown in FIG. 3D maycorrespond to a layer between sides 330 a and 330 b of platform 330(e.g., inner layer, etc.). Alternatively, for example, the layer shownin FIG. 3D may correspond to a layer at side 330 b of platform 330(e.g., outer layer, etc.). In one implementation, platform 330 can bephysically implemented as a multi-layer circuit board (e.g., PCB) or maycomprise a multi-layer PCB embedded therein. To that end, one or morecomponents shown in FIG. 3C may correspond to electrically conductivematerial(s) (e.g., tracks, traces, copper, etc.) patterned along a firstlayer of the PCB, and one or more components shown in FIG. 3D maycorrespond to electrically conductive material(s) patterned along asecond layer of the PCB. Other implementations are possible as well.

As shown in FIG. 3C, device 300 also includes a first plurality ofconductive structures, exemplified by structures 340, 342, 344, 346,348, 349, a plurality of interconnects, exemplified by interconnects350, 352, 354, 356, 358, a magnetic field sensor 390, and connectors392, 394. As shown in FIG. 3D, device 300 also includes a secondplurality of conductive structures, exemplified by structures 360, 362,364, 366. As shown in FIGS. 3C and 3D, device 300 also includes aplurality of electrical contacts, exemplified by contacts 332, 334, 436,370, 372, 374, 376, 378.

Electrical contacts 332, 334, 336 shown in FIG. 3C may be configured toelectrically couple, respectively, the first and second pluralities ofconductive structures to a power source, voltage regulator, currentamplifier, or other circuitry (e.g., circuitry 350) that provides orconditions one or more electrical currents flowing through therespective conductive tracks coupled to the respective contacts. To thatend, contacts 332, 334, 336 can be formed from a conductive material(e.g., copper, etc.) disposed in the layer of platform 330 shown in FIG.3C. In one example, contacts 332, 334, 336 can be configured to providea 3-phase AC signal into the coil windings defined by the conductivestructures. In this example, 3-phase AC signal can be modulated tocontrol the stator-platform magnetic field generated by platform 330.However, other implementations are possible as well (e.g., 2-phasesignal, etc.).

The first plurality of conductive structures (340, 342, 344, 346, 348,349, etc.) shown in FIG. 3C may comprise electrically conductivematerial (e.g., copper, etc.) in a circular arrangement around axis 306.For instance, as shown in FIG. 3C, the first plurality of conductivestructures extends between circles 301 and 302, which are concentricwith axis 306. A region of side 330 a between circles 301 and 302, forinstance, may at least partially overlap the plurality of magnets 320,322, 324, 326, etc., of rotor platform 310. Further, as shown in FIG.3C, each conductive structure (e.g., structure 342, etc.) is tilted in afirst direction (e.g., clockwise) about axis 306. In addition, the firstplurality of conductive structures is in a substantially coplanararrangement. Thus, for instance, structures 340, 342, 344, 346, 348,349, etc., can be formed as patterned conductive tracks along a singlelayer of a circuit board (e.g., PCB).

Similarly, the second plurality of conductive structures (360, 362, 364,366, etc.) shown in FIG. 3D are in a circular arrangement that issubstantially coplanar (e.g., along a second layer of the PCB). Thus,for example, the first plurality of conductive structures may be at afirst distance to rotor platform 310 that is less than a second distancebetween the second plurality of conductive structures and rotor platform310.

Additionally, structures 360, 362, 364, 366, etc., extend, respectively,between circles 303 and 304. Circles 303 and 304 may be similar tocircles 301 and 302 and may thus be concentric to axis 306 with similarradii, respectively, as the radii of circles 301 and 302. As shown inFIG. 3D, the second plurality of conductive structures is tilted in asecond direction relative to axis 306 (e.g., counterclockwisedirection). Thus, the second plurality of structures in FIG. 3D aretilted in an opposite direction to the tilting direction of the firstplurality of structures of FIG. 3C. For example, structure 340 (FIG. 3C)is tilted in a clockwise direction around axis 306. Whereas, structure360 (FIG. 3C) is tilted in a counterclockwise direction around axis 306.

As noted above, the first and second pluralities of conductivestructures can be electrically coupled to one another to form aplurality of coil windings. To facilitate this, interconnects 350, 352,354, 356, 358, etc., may comprise conductive material that extendsthrough platform 330 (e.g., through the page) to connect respectiveconductive structures that overlap at the respective positions of theinterconnects. For example, interconnect 350 electrically couplesconductive structure 340 (FIG. 3C) to conductive structure 360 (FIG.3D). Similarly, interconnect 352 electrically couples conductivestructure 342 (FIG. 3C) to conductive structure 362 (FIG. 3D), etc.

With this arrangement, for example, a first coil winding of device 300may define a first conductive path that comprises, in this order:structure 340, interconnect 350, structure 360, interconnect 354,structure 344, etc., through structure 364. Thus, the first coil windingmay extend around axis 306 and about a substantially ring-shaped coreregion inside the first coil winding (i.e., region inside platform 330between circles 301, 302, 303, 304, and overlapping the first and secondpluralities of conductive structures). Thus, in the example shown, thefirst coil winding may be configured as a toroidal coil winding betweenthe terminals of structures 340 and 364. Similarly, a second coilwinding of device 300 may define a second conductive path thatcomprises, in this order: structure 342, interconnect 352, structure362, interconnect 356, structure 346, etc., through structure 366.

Thus, in some instances, device 300 may include a plurality ofinterleaved toroidal coil windings, such as the first and second coilwindings described above, that are associated with a shared core regioninside the plurality of coil windings. For instance, in FIG. 3C,adjacent structures 340 and 342 may be included in two differenttoroidal coil windings that encompass a shared core region around axis306. In one embodiment, where device 300 includes a PCB, the core regionmay be included in middle layers of the PCB (between the layers shown inFIGS. 3C and 3D).

To that end, for example, when electrical current(s) flow through theplurality of coil windings, a stator-platform magnetic field may begenerated inside the shared core region. The stator-platform magneticfield could then interact with the rotor-platform magnetic fieldassociated with the magnets in rotor platform 310 to cause a torque orforce that rotates platform 310 about axis 306.

Thus, in some examples, the conductive structures shown in FIGS. 3C and3D can be electrically coupled (e.g., by the interconnects) to form acoreless PCB motor coil. For instance, the first plurality of conductivestructures shown in FIG. 3C can be separated from the second pluralityof conductive structures shown in FIG. 3D by an insulating material,such as an electrically insulating layer (e.g., plastic, enamel etc.)between the two layers shown in FIGS. 3C and 3D. In this instance, thestator-platform magnetic field could extend through the insulatingmaterial.

However, in other examples, device 300 may include a magneticallypermeable core (not shown) between the two layers of FIGS. 3C and 3D todirect or focus the generated stator-platform magnetic field. Forinstance, a middle layer (not shown) of platform 330 may include aconductive material (e.g., ring shaped copper trace, etc.) disposedbetween the conductive structures of FIGS. 3C and 3D. To that end, theconductive material in the middle layer may act as a magnetic core thatenhances the stator-platform magnetic field therein.

Similarly to contacts 332, 334, 336, etc., shown in FIG. 3C, electricalcontacts 370, 372, 374, 376, 378, etc., shown in FIG. 3D may compriseconductive materials (e.g., copper traces, etc.) that are connected torespective ends of the plurality of coil windings of device 300.Continuing with the example above, a first end of the first coil winding(e.g., structure 364) is connected to electrical contact 370. Similarly,an end of the second coil winding (e.g., structure 366) is connected toelectrical contacts 372, and another end of the second coil winding(e.g., structure 342) is connected, via interconnect 358, to electricalcontact 372.

Thus, with this arrangement, the electrically conductive pathsassociated with the various coil windings of device 300 can beelectrically separated from one another when electrical contacts, 370,372, 374, 376, 378, etc., are not connected to one another (e.g., “opencircuit” configuration). Thus, in line with the discussion above, eachcoil winding can be individually tested by measuring electricalcharacteristics (e.g., flying-probe test, etc.) between two respectiveelectrical contacts at the ends or terminals of the respective coilwinding.

Further, in some examples, two coil windings can be connected in aseries circuit configuration by electrically coupling the electricalcontracts. For example, the first coil winding (including structures 340and 364) can be connected in series with the second coil winding(including structures 342 and 366) by connecting contact 370 to contact372. For instance, a mountable component (not shown), such as a resistoror a wire, can be mounted onto contacts 370 and 372 to connect the twocoil windings. In this instance, an electrical current may flow aroundaxis 306 two times by combining the two conductive paths of the firstand second coil windings. The combined conductive path may comprise, forinstance, in this order: contact 332, the first coil winding, contact370, the mountable component (not shown), contact 372, interconnect 358,and then the second coil winding.

Alternatively or additionally, in some examples, two coil windings canbe connected in a parallel circuit configuration via the electricalcontacts. For example, if a mountable component electrically couplescontacts 374 and 376, then the second coil winding may be connected inparallel with a third coil winding around axis 306 (e.g., winding thatends at contact 378).

Magnetic field sensor 390 may be similar to sensor 290. To that end,sensor 390 may include any magnetometer, such as a Hall effect sensor,etc., that is configured to measure the rotor-platform magnetic fieldgenerated by the magnets (e.g., 320, 322, 324, 326, etc.) of platform310. Thus, for instance, a computing system (e.g., controller 234,circuitry 250, etc.) can determine an orientation of platform 310 aboutaxis 306 based on outputs from sensor 390.

To facilitate this, in some examples, sensor 390 can be positioned at alocation in platform 330 that substantially overlaps the rotor-platformmagnetic field of platform 310. For example, as shown in FIG. 3C, sensor390 is positioned in the region between circles 301 and 302 (the regionthat at least partially overlaps the magnets of platform 310).Additionally, to mitigate interference from the stator-platform magneticfield of the coil windings defined by the first and second pluralitiesof conductive structures, a portion of the coil-shaped conductive pathsextending around axis 306 in platform 330 could be interrupted ormodified in the region of platform 330 where sensor 390 is located.

As shown in FIG. 3C, for example, the first plurality of conductivestructures comprise a plurality of spaced-apart conductive structuresthat are spaced apart by a substantially uniform distance. However, thefirst plurality of conductive structures shown in FIG. 3C may includetwo adjacent structures (e.g., 348 and 349) that are separated by agreater distance than the substantially uniform distance. Similarly, forexample, the second plurality of conductive structures (shown in FIG.3D) may also include two adjacent structures that are separated by agreater distance than the substantially uniform distance between otherstructures of the second plurality of structures. Thus, as shown in FIG.3C, sensor 430 can be located between structures 348 and 349 (i.e.,within the “gap” in the coil-shaped conductive path(s) extending aroundaxis 306).

To facilitate this, connectors 392, 394, etc., which extend away fromthe region where sensor 390 is located (e.g., outside the region betweencircles 301 and 302, etc.), can be employed to electrically couple aportion of the coil-shaped conductive path(s) and a remaining portion ofthe coil-shaped conductive path(s). To that end, connectors 392 and 394may comprise conductive material (e.g., copper, metal, metal compound,etc.) that is shaped and/or disposed at an appropriate distance fromsensor 390 to reduce the effect of the stator-platform magnetic field onthe measurements by sensor 390.

Further, although two connectors 392 and 394 are shown, device 300 mayinclude additional or fewer connectors (e.g., a connector for each coilwinding) than shown. Additionally, one or both of connectors 392 and 394can be alternatively disposed in a different layer than the layer shownin FIG. 3C. Further, although magnetic sensor 390 is shown to be mountedto side 330 a of platform 330, in some examples, sensor 390 can bealternatively positioned along a different side (e.g., side 330 b) ofplatform 330 or any other location.

It is noted that the shapes, dimensions, and relative positions shown inFIGS. 3A-3D for device 300 and/or components thereof are not necessarilyto scale and are only illustrated as shown for convenience indescription. To that end, for example, device 300 and/or one or morecomponents thereof can have other forms, shapes, arrangements, and/ordimensions as well. It is also noted that device 400 may include feweror more components than those shown, such as any of the components ofdevice 300 (e.g., interfaces, sensors, controllers, etc.), among others.

FIG. 4 is a simplified circuit diagram of a device 400 that includes anelectromagnetic coil, according to example embodiment. Device 400 may besimilar to devices 100, 200, and/or 300, for example. As shown, device400 includes a plurality of electrical contacts 432, 434, 436, 470, 472,474, 476, a plurality of coil windings 440, 442, 444, 446, 448, 450, anda plurality of mountable components, exemplified by components 480, 482.

In some examples, the illustration in FIG. 4 may correspond to a circuitrepresentation of one or more components of device 300 of FIG. 3.

Contacts 432, 434, 436 may be similar, respectively, to contacts 332,334, 336. In one implementation, contacts 432, 434, 436 may be connectedto a power supply that provides a modulated power signal, such as3-phase alternating current (AC) signal for instance, that flows throughcoil windings 440, 442, 444, 446, 448, 450 to generate a rotatingmagnetic field (e.g., similar to stator-platform magnetic fielddescribed for device 300). However, other configurations of the inputpower signal are possible as well. Thus, in some implementations, device400 may be configured to provide an electrical signal (via contacts 432,434, 436) to the coil windings to generate a magnetic field.

In other implementations however, device 400 may be configured to detectelectrical current(s) induced in the coil windings by an externalmagnetic field source (not shown). For example, in a power transformersystem, device 400 may be configured to provide electrical power basedon a magnetic field generated by another transformer coil (not shown).Thus, in these implementations, contacts 432, 434, 436 can be connectedto circuitry (e.g., circuitry 250) that detects and/or otherwiseconditions the electrical currents induced in the coil windings.

Coil windings 440, 442, 446, 448, 450 may comprise a plurality of coilwindings that overlap a shared core region. To that end, it is notedthat coil windings 440, 442, 446, 448, 450 are shown to be in separatephysical locations only for convenience in description. In practice, forexample, the coil windings may encompass a same core region inside thecoil windings.

Referring back to FIGS. 3C-3D for example, coil winding 440 may beimplemented as the first toroidal coil winding that includes, in thisorder: structure 340, interconnect 350, structure 360, interconnect 354,structure 344, etc., through structure 364. Further, coil winding 442may be implemented as the second toroidal coil winding that includes, inthis order: structure 342, interconnect 352, structure 362, interconnect356, structure 346, etc., through structure 366.

As another example, where device 400 includes an electromagnetic coilhaving a cylindrical core region. Each coil winding may be implementedas a coil-shaped wire that extends around a circumference of thecylindrical core from one end to an opposite end of the cylindricalcore. For instance, the coil windings can be physically stacked tooverlap one another around the cylindrical core. Other examples arepossible.

Thus, in some examples, conductive loops of coil windings 440, 442, 446,448, 450 can be intertwined, interleaved, overlapping, or otherwise nearone another along the lengths of the respective coil windings.

Electrical contacts 470, 472, 474, 476, may be similar, respectively, toelectrical contacts 370, 372, 374, 376. For instance, the electricalcontacts can be used to electrically separate terminals (or ends) of thecoil windings in device 400. Referring back to FIG. 3D for example,similarly to contacts 370 and 372, contacts 470 and 472 can beinterposed between the terminals of coil windings 440 and 442. Further,similarly to contacts 374 and 376, contacts 474 and 476 can beinterposed between a terminal of coil winding 442 and the terminals ofcoil windings 446 and 450.

Mountable components 480, 482, etc., may be similar to mountablecomponents 130 of device 100, for example. In one example, mountablecomponents 480, 482, etc. can be implemented as resistors that aremounted to device 400 to connect respective coil windings in a seriesand/or parallel configuration. Referring back to FIG. 3D for example,mountable component 480 (e.g., resistor, wire, etc.) can be mounted onthe mounting surface that includes contacts 370 and 372 to electricallyconnect contacts 370, 372 to one another. In this example, mountablecomponent 480 may thus connect two toroidal coil windings (e.g.,windings 440 and 442) in a series circuit configuration relative to thepower leads (i.e., contacts 432, 434, 436) of the circuit. With thisarrangement for instance, the two toroidal coil windings connected inseries may define an electrically conductive path that extends around alength of the core region two times. As another example, mountablecomponent 482 can be implemented as a resistor that is mounted oncontacts 474 and 476 to connect coil winding 442 to windings 446 and 450in a parallel circuit configuration relative to the power leads (i.e.,contacts 432, 434, 436) of the circuit.

Thus, with this arrangement, mountable components 480, 482, etc., mayallow various coil applications (e.g., to control the number of turns orloops in between power terminals, to control the number of turns orloops in parallel conductive paths, etc.). Further, prior to mountingthe mountable components, each individual coil winding can be tested forshorts or other defects without interference from the other coilwindings. For example, the resistance, inductance, etc., of coil winding440 can be measured prior to mounting component 480 onto contacts 470and 472. Similarly, for example, coil winding 442 can be individuallytested and/or measured prior to mounting components 480 and 482.

III. Example Methods and Computer-Readable Media

FIG. 5 is a flowchart of a method 500, according to an exampleembodiment. Method 500 presents an embodiment of a method that could beused with any of devices 100, 200, 300, and/or 400, for example. Method500 may include one or more operations, functions, or actions asillustrated by one or more of blocks 502-504. Although the blocks areillustrated in a sequential order, these blocks may in some instances beperformed in parallel, and/or in a different order than those describedherein. Also, the various blocks may be combined into fewer blocks,divided into additional blocks, and/or removed based upon the desiredimplementation.

In addition, for method 500 and other processes and methods disclosedherein, the flowchart shows functionality and operation of one possibleimplementation of present embodiments. In this regard, each block mayrepresent a module, a segment, a portion of a manufacturing or operationprocess, or a portion of program code, which includes one or moreinstructions executable by a processor for implementing specific logicalfunctions or steps in the process. The program code may be stored on anytype of computer readable medium, for example, such as a storage deviceincluding a disk or hard drive. The computer readable medium may includea non-transitory computer readable medium, for example, such ascomputer-readable media that stores data for short periods of time likeregister memory, processor cache and Random Access Memory (RAM). Thecomputer readable medium may also include non-transitory media, such assecondary or persistent long term storage, like read only memory (ROM),optical or magnetic disks, compact-disc read only memory (CD-ROM), forexample. The computer readable media may also be any other volatile ornon-volatile storage systems. The computer readable medium may beconsidered a computer readable storage medium, for example, or atangible storage device.

In addition, for method 500 and other processes and methods disclosedherein, each block in FIG. 5 may represent circuitry that is wired toperform the specific logical functions in the process.

Method 500 is an example method for rotating a rotor platform (e.g.,first platform 310) of a device (e.g., device 300) relative a statorplatform (e.g., second platform 330) of the device and about an axis ofrotation of the rotor platform (e.g., axis 306). Thus, in some examples,the rotor platform may remain within a given distance (e.g., distance308) to the stator platform in response to rotation of the rotorplatform, in line with the discussion above.

At block 502, method 500 involves causing an electrical current to flowthrough an electrically conductive path included in the stator platformand extending around the axis of rotation of the rotor platform. By wayof example, device 200 may include circuitry 250 (e.g., power source(s),voltage regulator(s), current amplifier(s), wiring, etc.) that providesthe electrical current to the electrically conductive path (e.g., coilwindings 440, 442, 444, 446, 448, 450, etc.).

Thus, as noted above, the electrical current flowing through the coil(i.e., arrangement of planar conductive structures) may generate astator-platform magnetic field that interacts with a rotor-platformmagnetic field of the rotor platform such that the rotor-platformrotates about the axis of rotation. For example, the interaction of themagnetic fields may induce a torque or force that causes the rotorplatform to rotate about the axis of rotation in a clockwise orcounterclockwise direction (depending on the provided current).

At block 504, method 500 involves modulating the electrical current toadjust an orientation of the first platform about the axis of rotation.By way of example, consider a scenario where sensor 212 is a gyroscope(e.g., direction) sensor mounted on platform 210. In the scenario,controller 214 (or 234) may be configured to process outputs from sensor212 and rotate platform 210 until sensor 212 measure a specific targetchange in direction (e.g., a value of zero, etc.). In this scenario,circuitry 250 can modulate the electrical current to cause platform 310to rotate in a particular direction and/or speed opposite to a change indirection or speed measured by sensor 312. Other scenarios are possibleas well.

Thus, in some implementations, method 500 also involves modulating acharacteristic of the rotation of the rotor platform (e.g., rate,acceleration, direction, etc.). Additionally or alternatively, in someimplementations, method 500 also involves obtaining output of a magneticfield sensor (e.g., sensor 290), and determining an orientation of therotor platform about the axis of rotation based on the output of themagnetic field sensor.

FIG. 6 is a flowchart of another method 600, according to an exampleembodiment. Method 600 presents an embodiment of a method that could beused with any of devices 100, 200, 300, and/or 400, for example. Method600 may include one or more operations, functions, or actions asillustrated by one or more of blocks 602-606. Although the blocks areillustrated in a sequential order, these blocks may in some instances beperformed in parallel, and/or in a different order than those describedherein. Also, the various blocks may be combined into fewer blocks,divided into additional blocks, and/or removed based upon the desiredimplementation.

At block 602, method 600 involves obtaining electrical measurements of aplurality of coil windings associated with a shared core region insidethe plurality of coil windings. At block 604, method 600 involvesdetermining electrical characteristics of the plurality of coil windingsbased on the electrical measurements.

By way of example, a robotic device can be configured to detect thelocations of the electrical contacts (e.g., via computer vision or othersensing apparatus) at the respective ends of the coil windings, and thenposition probe terminals of a measurement device (e.g., voltmeter,ohmmeter, etc.) onto the electrical contacts. In one implementation, aflying board test system can be used to obtain the electricalmeasurements. For instance, an example system may be configured toelectro-mechanically control probes to access the electrical contacts ona mounting surface of a PCB that includes the coils. Other examplesystems are possible as well, such as in-circuit test (ICT) systems,manufacturing defects analyzers (MDAs), bed-of-nails test systems, amongothers.

In some examples, each coil winding may extend around the shared coreregion between a respective first end (e.g., structure 340) and arespective second end (e.g., structure 364), and may have a respectivefirst-end electrical contact (e.g., contact 332) electrically connectedto the respective first end and a respective second-end electricalcontact (e.g., contact 370) electrically connected to the respectivesecond end.

Thus, in some examples, obtaining the electrical measurements at block602 may involve measuring each coil winding via the respective first-endelectrical contact of the coil winding and the respective second-endelectrical contact of the coil winding. Referring back to FIG. 4 forexample, electrical characteristics such as resistance, inductance,etc., can be measured for coil 440 between contact 470 and contact 432.Similarly, the electrical characteristics of coil 442 can be measuredbetween contacts 472 and 474 (e.g., by placing the terminals of a probeon contacts 472, 474), and so on.

At block 606, method 600 involves mounting a plurality of mountablecomponents to electrically couple the plurality of coil windings. Insome examples each mountable component may be configured to electricallycouple a respective first coil winding to a respective second coilwinding via the respective first-end electrical contact of therespective first coil winding and the respective second-end electricalcontact of the respective second coil winding. Referring back to FIG. 4for example, mountable component 480 can be mounted between terminals ofcoil windings 440 and 442 to connect the windings in a series circuitconfiguration. As another example, mountable component 482 can bemounted between terminals of windings 442 and 446 (and 450) to connectthe windings in a parallel circuit configuration.

In some implementations, mounting the plurality of mountable componentsat block 606 is based on a comparison between the electricalcharacteristics determined at block 604 and a threshold range of values.Referring back to FIG. 4 for example, prior to mounting components 480and 482 to device 400, a computing system (e.g., assembly apparatus,etc.) can compare a measured resistance of coil winding 442 with apredetermined range of values that are expected if winding 442 is notshorted (unintentionally) with another coil winding. If the measuredresistance is within the range of values, then the computing system canoperate a robotic arm or other apparatus to mount component 480 betweencontacts 470, 472, and/or to mount component 482 between contacts 474,476.

IV. Conclusion

It should be understood that arrangements described herein are forpurposes of example only. As such, those skilled in the art willappreciate that other arrangements and other elements (e.g. machines,interfaces, functions, orders, and groupings of functions, etc.) can beused instead, and some elements may be omitted altogether according tothe desired results. Further, many of the elements that are describedare functional entities that may be implemented as discrete ordistributed components or in conjunction with other components, in anysuitable combination and location, or other structural elementsdescribed as independent structures may be combined.

While various aspects and embodiments have been disclosed herein, otheraspects and embodiments will be apparent to those skilled in the art.The various aspects and embodiments disclosed herein are for purposes ofillustration and are not intended to be limiting, with the true scopebeing indicated by the following claims, along with the full scope ofequivalents to which such claims are entitled. It is also to beunderstood that the terminology used herein is for the purpose ofdescribing particular embodiments only, and is not intended to belimiting.

What is claimed is:
 1. A method comprising: obtaining electricalmeasurements from a plurality of coil windings associated with a sharedcore region inside the plurality of coil windings, wherein each coilwinding extends around the shared core region between a first end and asecond end, and wherein the first end is electrically connected to afirst-end electrical contact and the second end is electricallyconnected to a second-end electrical contact such that each coil windingdefines a coil-shaped electrically conductive path that extends aroundthe shared core region between two electrical contacts; and based on theelectrical measurements, determining electrical characteristics for theplurality of coil windings; and mounting a plurality of mountablecomponents such that each mountable component is configured toelectrically couple a first coil winding to a second coil winding fromthe plurality of coil windings.
 2. The method of claim 1, whereinobtaining the electrical measurements from the plurality of coilwindings comprises: measuring a first-end electrical contact and asecond-end electrical contact from a given coil winding to obtainelectrical measurements from the given coil winding.
 3. The method ofclaim 1, wherein mounting the plurality of mountable components suchthat each mountable component is configured to electrically couple thefirst coil winding to the second coil winding from the plurality of coilwindings comprises: mounting a mountable component between a first-endelectrical contact from the first coil winding and a second-endelectrical contact of the second coil winding.
 4. The method of claim 1,further comprising: responsive to determining electrical characteristicsfor the plurality of coil windings, performing a comparison between theelectrical characteristics and a threshold range of values.
 5. Themethod of claim 4, wherein mounting the plurality of mountablecomponents such that each mountable component is configured toelectrically couple the first coil winding to the second coil windingfrom the plurality of coil windings comprises: mounting one or moremountable components based on the comparison.
 6. The method of claim 1,wherein determining electrical characteristics for the plurality of coilwindings comprises: determining a resistance for one or more coilwindings from the plurality of coil windings.
 7. The method of claim 6,wherein mounting the plurality of mountable components such that eachmountable component is configured to electrically couple the first coilwinding to the second coil winding from the plurality of coil windingscomprises: mounting one or more mountable components based on theresistance for the one or more coil windings from the plurality of coilwindings.
 8. An electric motor device comprising: a first coil windingthat defines a first conductive path around a shared core region; asecond coil winding that defines a second conductive path around theshared core region; and a mountable component configured to electricallycouple the first coil winding to the second coil winding.
 9. Theelectric motor device of claim 8, wherein a first end of the first coilwinding is coupled to a first-end electrical contact and a second end ofthe first coil winding is coupled to a second-end electrical contactsuch the first conductive path is between the first-end electricalcontact and the second-end electrical contact.
 10. The electric motordevice of claim 9, wherein a second end of the second coil winding iscoupled to a third-end electrical contact and a second end of the secondcoil winding is coupled to a fourth-end electrical contact such thesecond conductive path is between the third-end electrical contact andthe fourth-end electrical contact.
 11. The electric motor device ofclaim 10, wherein the mountable component is coupled to the first-endelectrical contact and the fourth-end electrical contact.
 12. Theelectric motor device of claim 8, wherein the first coil winding and thesecond coil winding are in a toroidal arrangement about the shared coreregion.
 13. The electric motor device of claim 8, wherein the mountablecomponent is a resistor.
 14. The electric motor device of claim 8,wherein the first coil winding and the second coil winding areelectrically coupled in a series circuit configuration via the mountablecomponent.
 15. The electric motor device of claim 8, wherein the firstcoil winding and the second coil winding are electrically coupled in aparallel circuit configuration via the mountable component.
 16. Theelectric motor device of claim 8, further comprising: circuitryconfigured to cause an electrical current to flow through the first coilwinding and the second coil winding such that the first coil winding andthe second coil winding generates a magnetic field.
 17. The electricmotor device of claim 8, wherein the first coil winding and the secondcoil winding comprises: a first plurality of conductive structures in afirst coplanar arrangement; a second plurality of conductive structuresin a second coplanar arrangement; and a plurality of interconnects thatelectrically couple the first plurality of conductive structures withthe second plurality of conductive structures to form the first coilwinding and the second coil winding.
 18. The electric motor device ofclaim 17, wherein the first coplanar arrangement is substantiallyparallel to the second coplanar arrangement.
 19. The electric motordevice of claim 18, further comprising: a circuit board, wherein thefirst plurality of conductive structures are disposed in a first layerof the circuit board, wherein the second plurality of conductivestructures are disposed in a second layer of the circuit board, andwherein the plurality of interconnects extend from the first layer tothe second layer.
 20. The electric motor device of claim 19, wherein thefirst plurality of conductive structures and the second plurality ofconductive structures are concentrically arranged about an axis ofsymmetry of the first coil winding and the second coil winding.